Load-stabilizing apparatus

ABSTRACT

A load-stabilizing apparatus includes a load-connecting member configured to carry a load, a parallelogram mechanism connected to the load-connecting member, and a stabilizing motor drivingly connected to the parallelogram mechanism. The stabilizing motor is configured to drive the parallelogram mechanism to deform, such that the parallelogram mechanism drives the load-connecting member to move.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a continuation of International Application No.PCT/CN2019/078563, filed on Mar. 18, 2019, which claims priority to PCTApplication Nos. PCT/CN2018/080366, PCT/CN2018/080367,PCT/CN2018/080368, PCT/CN2018/080369, PCT/CN2018/080370,PCT/CN2018/080371, PCT/CN2018/080372, PCT/CN2018/080373, all filed onMar. 23, 2018, the entire contents of all of which are incorporatedherein by reference.

TECHNICAL FIELD

The present disclosure relates to photographing technology and, moreparticularly, to a load-stabilizing apparatus, a gimbal apparatus, and aphotographing apparatus.

BACKGROUND

In order to achieve anti-vibration photography and increase thephotographing stability to obtain higher-quality images during the useof a photographing device, the photographing device is generally mountedat a portable stabilization platform, such as a gimbal. The gimbalgenerally has the stabilizing function in a rotation direction of thephotographing device. For example, a three-axis gimbal compensates forthe vibration of the photographing device in the rotation direction of apitch axis, the rotation direction of a yaw axis, and the rotationdirection of a roll axis. However, the gimbal does not have astabilizing function for a vibration of the photographing device in thedirection of gravity.

SUMMARY

In accordance with the disclosure, there is provided a load-stabilizingapparatus including a load-connecting member configured to carry a load,a parallelogram mechanism connected to the load-connecting member, and astabilizing motor drivingly connected to the parallelogram mechanism.The stabilizing motor is configured to drive the parallelogram mechanismto deform, such that the parallelogram mechanism drives theload-connecting member to move.

Also in accordance with the disclosure, there is provided aload-stabilizing apparatus includes a load-connecting member configuredto carry a load, a connecting assembly connected to the load-connectingmember, and a stabilizing motor drivingly connected to the connectingassembly. The stabilizing motor is configured to drive the connectingassembly to move, such that the connecting assembly drives theload-connecting member to move translationally.

Also in accordance with the disclosure, there is provided aload-stabilizing apparatus including a load-connecting member configuredto carry a load, and a deformation mechanism connected to theload-connecting member. The deformation mechanism is deformable and hasa plurality of deformation states including a first stabilization stateand a second stabilization state. When the deformation mechanism is inthe first stabilization state, the load-stabilizing apparatus is in afirst stabilization mode, and when the deformation mechanism is in thesecond stabilization state, the load-stabilizing apparatus is in asecond stabilization mode different from the first stabilization mode.

Also in accordance with the disclosure, there is provided aload-stabilizing apparatus including a connecting assembly connected toa load-connecting member, an elastic member configured to provide anelastic force to the connecting assembly, and an adjustment assemblyconnected to the elastic member. The adjustment assembly is configuredto adjust the elastic member to provide the elastic force in a pluralityof directions including a first elastic direction and a second elasticdirection different from the first elastic direction. When the elasticmember provides the elastic force in the first elastic direction, theload-stabilizing apparatus is in a first stabilization mode, and whenthe elastic member provides the elastic force in the second elasticdirection, the load-stabilizing apparatus is in a second stabilizationmode different from the first stabilization mode.

Also in accordance with the disclosure, there is provided aload-stabilizing apparatus includes a connecting assembly connected to aload-connecting member, a force-transferring member drivingly connectedto the connecting assembly, a stabilizing motor drivingly connected tothe force-transferring member and configured to drive the connectingassembly to move via the force-transferring member, and a blockingmember configured to block the force-transferring member when thestabilizing motor drive the force-transferring member to pass a presetposition.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a schematic diagram showing a photographing apparatusconsistent with embodiments of the disclosure.

FIG. 2 is a schematic diagram showing a gimbal apparatus consistent withembodiments of the disclosure.

FIG. 3 is a top view of a gimbal apparatus consistent with embodimentsof the disclosure.

FIG. 4 is a side view of a load-stabilizing apparatus consistent withembodiments of the disclosure.

FIG. 5 is a cross-sectional view of a load-stabilizing apparatusconsistent with embodiments of the disclosure.

FIG. 6 is an exploded perspective view of a load-stabilizing apparatusconsistent with embodiments of the disclosure.

FIG. 7 is a perspective view of a load-stabilizing apparatus consistentwith embodiments of the disclosure.

FIG. 8 is another perspective view of a load-stabilizing apparatusconsistent with embodiments of the disclosure.

FIG. 9 is a perspective view of a switching assembly consistent withembodiments of the disclosure.

FIG. 10 is a cross-sectional view of a load-stabilizing apparatus in afirst stabilization mode consistent with embodiments of the disclosure.

FIG. 11 is a cross-sectional view of a load-stabilizing apparatus in asecond stabilization mode consistent with embodiments of the disclosure.

FIG. 12 is a side view of a load-stabilizing apparatus in a firststabilization mode consistent with embodiments of the disclosure.

FIGS. 13 and 14 are schematic diagrams showing a load-stabilizingapparatus carrying loads with different weights.

FIG. 15 is a schematic diagram showing a working process of aslider-crank mechanism consistent with embodiments of the disclosure.

FIG. 16 is another schematic diagram showing a working process of aslider-crank mechanism consistent with embodiments of the disclosure.

DETAILED DESCRIPTION

Hereinafter, embodiments consistent with the disclosure will bedescribed with reference to the drawings, which are merely examples forillustrative purposes and are not intended to limit the scope of thedisclosure. Wherever possible, the same reference numbers will be usedthroughout the drawings to refer to the same or like parts.

As used herein, when a first component is referred to as “fixed to” asecond component, it is intended that the first component may bedirectly attached to the second component or may be indirectly attachedto the second component via another component. When a first component isreferred to as “connecting” to a second component, it is intended thatthe first component may be directly connected to the second component ormay be indirectly connected to the second component via a thirdcomponent between them. When a first component is referred to as“arranged” at a second component, it is intended that the firstcomponent may be directly arranged at the second component or may beindirectly arranged at the second component via a third componentbetween them. The terms “perpendicular,” “horizontal,” “left,” “right,”and similar expressions used herein are merely intended for description.

Unless otherwise defined, all the technical and scientific terms usedherein have the same or similar meanings as generally understood by oneof ordinary skill in the art. As described herein, the terms used in thespecification of the present disclosure are intended to describe exampleembodiments, instead of limiting the present disclosure. The term“and/or” used herein includes any suitable combination of one or morerelated items listed.

In the situation where the technical solutions described in the presentdisclosure are not conflicting, they can be combined.

FIG. 1 is a schematic diagram showing an example photographing apparatus100 consistent with the disclosure. As shown in FIG. 1, thephotographing apparatus 100 includes a photographing device C, a gimbalapparatus 20, and a supporting device 40.

The photographing device C is configured to capture images or videos,and can include, but is not limited to, a camera, a video camera, or amobile phone or tablet having a camera function.

The supporting device 40 is connected to the gimbal apparatus 20 andconfigured to support the gimbal apparatus 20. In some embodiments, thesupporting device 40 can be a handheld supporting device that can beheld by a user. In some other embodiments, the supporting device 40 canbe a non-handheld supporting device arranged on, for example, anunmanned aerial vehicle (UAV), an unmanned vehicle, a driverless ship,or the like, for supporting the gimbal apparatus 20.

The gimbal apparatus 20 is configured to carry the photographing deviceC, and can be configured to change a photographing angle of thephotographing device C and compensate for the influence of vibrations onthe photographing device C. As shown in FIG. 1, the gimbal apparatus 20includes a load-stabilizing apparatus 22 and a gimbal 24.

FIG. 2 is a schematic diagram showing an example gimbal apparatus 20consistent with the disclosure. FIG. 3 is a top view of the gimbalapparatus 20 consistent with the disclosure. In some embodiments, thegimbal 24 can be a three-axis gimbal. The three-axis gimbal can adjustthe angles of the photographing device C around a yaw axis, a roll axis,and a pitch axis. For example, as shown in FIG. 2, the gimbal 24includes a first-axis driver 241, a first bracket 242, a second-axisdriver 243, a second bracket 244, and a third-axis driver 245. The firstbracket 242 is connected to the first-axis driver 241 and can be drivenby the first-axis driver 241 to rotate about the first axis Z1. Thesecond-axis driver 243 is fixedly arranged at an end of the firstbracket 242 distal from the first-axis driver 241. The second bracket244 is connected to the second-axis driver 243 and can be driven by thesecond-axis driver 223 to rotate about the second axis Z2. Thethird-axis driver 245 is fixedly arranged at an end of the secondbracket 244 distal from the second-axis driver 243. As shown in FIG. 3,the photographing device C is connected to the third-axis driver 245 andcan be driven by the third-axis driver 245 to rotate about the thirdaxis Z3. The first-axis driver 241, the second-axis driver 243, and thethird-axis driver 245 can be, e.g., brushless motors. In some otherembodiments, the gimbal 24 can be a single-axis gimbal, a two-axisgimbal, or any other type of gimbal.

In some embodiments, the gimbal 24 can also include a sensor (not shownin FIG. 2) and a processor (not shown in FIG. 2). The sensor can beconfigured to sense an attitude of the gimbal 24 and/or an attitude ofthe photographing device C. For example, the sensor may include aninertial measurement unit (IMU) for measuring the attitudes, such as anangular rate of each rotating axis of the gimbal 24, an acceleratingrate of the photographing device C, and/or the like. As another example,the sensor may include an angle sensor, such as a photoelectric encoder,for measuring the rotation angle at each rotating axis of the gimbal 24.The type of the sensor is not limited herein.

The processor can be configured to control at least one of thefirst-axis driver 241, the second-axis driver 243, and the third-axisdriver 245, according to the attitude information obtained by thesensor, to eliminate the effect of the vibration of the photographingapparatus 100 in the axial direction on the photographing device C. Thatis, the gimbal has a stabilizing function in the axial direction and canbe regarded as a stabilizing mechanism in the axial direction. Forexample, the processor can control at least one of the first-axis driver241, the second-axis driver 243, and the third-axis driver 245 to rotatein a direction opposite to the vibration direction of the photographingapparatus 100 to eliminate the effect of the vibration of thephotographing apparatus 100 in the axial direction on the photographingdevice C.

In some embodiments, the processor can be further configured to controlat least one of the first-axis driver 241, the second-axis driver 243,and the third-axis driver 245 in response to user's instructioninformation to achieve a photographing at an angle or direction desiredby the user.

As shown in FIG. 2, the gimbal 24 further includes a joint component 240fixedly connected to the first-axis driver 241. The joint component 240can be connected to the load-stabilizing apparatus 22. The jointcomponent 240 can further include an electrical connecting portion (notshown in FIG. 2). When the gimbal 24 and the load-stabilizing apparatus22 are connected to each other, the electrical connecting portion canelectrically couple the photographing device C, and/or the first-axisdriver 241, the second-axis driver 243, and the third-axis driver 245 tothe other electronic components (e.g., power supply, control panel,processor, or the like, arranged at other locations).

FIG. 4 is a side view of the load-stabilizing apparatus 22 consistentwith the disclosure. FIG. 5 is a cross-sectional view of theload-stabilizing apparatus 22 consistent with the disclosure. FIG. 6 isan exploded perspective view of the load-stabilizing apparatus 22consistent with the disclosure.

As shown in FIGS. 2 and 4, the load-stabilizing apparatus 22 includes astabilizing motor 62, a load-connecting member 80, and a connectingassembly 220. The load-connecting member 80 is configured to carry aload. The load-connecting member 80 can also be referred to as a loadconnector or a load bearer. The load can include a photographing device,such as a camera, a video camera, a mobile phone or tablet having acamera function, or the like, and/or a gimbal. The connecting assembly220 is connected to the load-connecting member 80. In some embodiments,as shown in FIG. 2, the load-connecting member 80 is connected to thejoint component 240. For example, as shown in FIGS. 2 and 5, aninterface 87 is provided at an end of the load-connecting member 80 andconfigured to be connected to the load, e.g., the gimbal 24 in theembodiments of the disclosure. The joint component 240 can be insertedinto the interface 87 to realize the connection between theload-connecting member 80 and the joint component 240. The jointcomponent 240 can be engaged, threaded, or interference fit with theload-connecting member 80.

The stabilizing motor 62 is drivingly connected to the connectingassembly 220 and configured to drive the connecting assembly 220 tomove, such that the connecting assembly 220 drives the load-connectingmember 80 to move translationally. An angle between the load-connectingmember 80 and the connecting assembly 220 is configured to graduallychange when the connecting assembly 220 moves. It can be appreciatedthat the stabilizing motor 62 can be any type of motor.

Therefore, the load-stabilizing apparatus 22 can utilize the stabilizingmotor 62 to drive the gimbal 24 and the photographing device C arrangedat the gimbal 24 to move in a direction opposite to a vibration of thephotographing device C in the vertical direction (the gravitydirection), such that the vibration of the photographing device C in thevertical direction can be compensated for. Thus, the image jitter causedby the vibration of the photographing device C during image shooting canbe improved.

The connecting assembly 220 can transmit the movement of the stabilizingmotor 62 to the load-connecting member 80 to cause the load-connectingmember 80 to move in the vertical direction. The connection assembly 220can include, but is not limited to, a rack and pinion mechanism, aslider crank mechanism, a ball screw, and/or the like. In someembodiments, the connection assembly 220 can include a deformationmechanism. The stabilizing motor 62 can drive the deformation mechanismto deform. In some embodiments, the deformation mechanism can include aparallelogram mechanism 223.

In some embodiments, as shown in FIGS. 2, 5, and 6, the parallelogrammechanism 223 includes a first connecting arm 222, a second connectingarm 224, and a first supporting arm 226 rotatably connected to the firstconnecting arm 222 and the second connecting arm 224. The firstconnecting arm 222 and the second connecting arm 224 are parallel toeach other. The load-connecting member 80 is connected to the firstsupporting arm 226. The connecting assembly 223 and the load-connectingmember 80 collectively form a load-supporting assembly 30. Thestabilizing motor 62 is drivingly connected to at least one of the firstconnecting arm 222 or the second connecting arm 224.

As shown in FIG. 6, the load-stabilizing apparatus 22 further includes abase 60. The base 60 can also be referred to as a supporting member. Theparallelogram mechanism 223 further includes a second supporting arm228. The second supporting arm 228 is arranged opposite to the firstsupporting arm 226 and fixedly connected to the base 60. An end of thefirst connecting arm 222 and an end of the second connecting arm 224 areconnected to the first supporting arm 226, and another end of the firstconnecting arm 222 and another end of the second connecting arm 224 arerotatably connected to the second supporting arm 228. When theparallelogram mechanism 223 is moving, the second supporting arm 228 canbe considered as a relatively fixed, i.e., immovable, component, and thefirst connecting arm 222, the second connecting arm 224, and the firstsupporting arm 226 are moving about the second supporting arm 228. Theparallelogram mechanism 223 can be regarded as a four-bar linkagemechanism, and the first connecting arm 222, the second connecting arm224, the first supporting arm 226, and the second supporting arm 228 canbe regarded as four arms of the four-bar linkage mechanism.

In some embodiments, the first supporting arm 226 and theload-connecting member 80 are one-piece molded. “One-piece molded” or“one-piece molding” means that two components are integrally formed witheach other. For example, in this disclosure, the first supporting arm226 can be integrally formed with the load-connecting member 80. In someother embodiments, the first supporting arm 226 can be fixedly attachedto the load connection portion 80 in a detachable manner or in anon-detachable manner. The second supporting arm 228 can be arranged ator attached to the base 60. In some embodiments, the second supportingarm 228 and the base 60 are one-piece molded. In some other embodiments,the second supporting arm 228 can also be fixedly attached to the base60 in a detachable manner or in a non-detachable manner.

As shown in FIG. 6, the first connecting arm 222 includes two firstprotruding portions 2223 extending from opposite edges of the firstconnecting arm 222 toward the second connecting arm 224. The secondconnecting arm 224 includes two second protruding portions 2243extending from opposite edges of the second connecting arm 224 towardthe first connecting arm 222. As such, the first connecting arm 222 andthe second connecting arm 224 form a cavity.

As shown in FIG. 6, each first protruding portion 2223 includes two earportions extending from opposite ends of the first protruding portion2223 along a length direction of the first protruding portion 2223. Eachsecond protruding portion 2243 includes two ear portions extending fromopposite ends of the second protruding portion 2243 along a lengthdirection of the second protruding portion 2243.

As shown in FIG. 6, the first supporting arm 226 includes two sideportions opposite to each other. Each of the two side portions has anL-shape-like structure and includes a first arm 226-1 and a second arm226-2. During operation, the first arm 226-1 can be maintainedapproximately parallel to the ground. The second arm 226-2 isapproximately vertical to the first arm 226-1. In some embodiments, thefirst arm 226-1 and the second arm 226-2 can be one-piece molded. Theload-connecting member 80 is connected to the first arm 226-1. In someembodiments, a distance between the two side portions is greater than awidth of the first connecting arm 222 and a width of the secondconnecting arm 224. A width of the second supporting arm 228 is smallerthan the width of the first connecting arm 222 and the width of thesecond connecting arm 224. The width of the first connecting arm 222 isdifferent from the width of the second connecting arm 224.

As shown in FIGS. 4 and 6, the two ends of the first connecting arm 222are respectively hinged with the first supporting arm 226 and the secondsupporting arm 228. In some embodiments, the ear portion of each firstprotruding portion 2223 proximal to the first supporting arm 226 ishinged with the first arm 226-1 of the corresponding side portionarranged near a first end of the corresponding side portion. The firstend of the side portion is an end of the first arm 226-1 distal from theload-connecting member 80. The hinge point of the ear portion of eachfirst protruding portion 2223 and the first supporting arm 226 isdenoted as S1. The ear portion of each second protruding portion 2243proximal to the first supporting arm 226 is hinged with the second arm226-2 of the corresponding side portion arranged near a second end ofthe corresponding side portion. The second end of the side portion is anend of the second arm 226-2 distal from the first arm 226-1. The hingepoint of the ear portion of each second protruding portion 2243 and thefirst supporting arm 226 is denoted as S2.

The ear portions of the two first protruding portions 2223 proximal tothe second supporting arm 228 are hinged with opposite sides of thesecond supporting arm 228 at positions near a first end of the secondsupporting arm 228. The first end of the second supporting arm 228 is anend of the second supporting arm 228 proximal to the ear portions of thetwo first protruding portions 2223. The hinge point of the ear portionof each first protruding portion 2223 and the second supporting arm 228is denoted as S3. The ear portions of the two second protruding portions2243 proximal to the second supporting arm 228 are hinged with theopposite sides of the second supporting arm 228 at positions near asecond end of second supporting arm 228. The second end of the secondsupporting arm 228 is an end of the second supporting arm 228 proximalto the ear portions of the two second protruding portions 2243. Thehinge point of the ear portion of each second protruding portion 2243and the second supporting arm 228 is denoted as S4.

A line connecting the hinge points S1 and S3 can be denoted as S1S3, anda line connecting the hinge points S2 and S4 can be denoted as S2S4. Theline S1S3 and the line S2S4 can be parallel to each other and have thesame length. That is, the first connecting arm 222, the secondconnecting arm 224, the first supporting arm 226, and the secondsupporting arm 228 can form a parallelogram structure. An angle betweenthe adjacent arms (e.g., the angle between the first connecting arm 222and the first supporting arm 226, or the angle between the secondconnecting arm 224 and the first supporting arm 226) can vary. However,no matter how the angles change, the opposite arms are alwaysapproximately parallel to each other (e.g., the first connecting arm 222is approximately parallel to the second connecting arm 224 and the firstsupporting arm 226 is approximately parallel to the second supportingarm 228). Further, during operation, while adjacent arms move relativeto each other, the first arm 226-1 of the first supporting arm 226 canbe maintained approximately parallel to the ground and the second arm226-2 of the first supporting arm 226 can be maintained approximatelyvertical to the ground. The first connecting arm 222, the secondconnecting arm 224, the first supporting arm 226, and the secondsupporting arm 228 can be regarded as four arms of the four-bar linkagemechanism as noted above. That is, the lines S1S3, S2S4, S1S2, and S3S4of the adjacent hinge points can represent the four arms of the four-barlinkage mechanism.

The stabilizing motor 62 can be rotatably connected to at least one ofthe first connecting arm 222 or the second connecting arm 224 and drivethe first connecting arm 222 and/or the second connecting arm 224 torotate clockwise or counterclockwise relative to the second supportingarm 228, thereby causing the first supporting arm 226 to rise or fall.In some embodiments, as shown in FIG. 6, the stabilizing motor 62 isarranged at a side of the base 60.

As shown in FIG. 6, the load-stabilizing apparatus 22 further includes aforce-transferring member 66 movably connected to the parallelogrammechanism 223 and the stabilizing motor 62, such that the stabilizingmotor 62 can drive the parallelogram mechanism 223 to deform via theforce-transferring member 66. In some embodiments, theforce-transferring member 66 can be rotatably connected to theparallelogram mechanism 223 and the stabilizing motor 62.

In some embodiments, the force-transferring member 66 and thestabilizing motor 62 can form a slider-crank mechanism. A hinge (notshown in FIG. 6) can be arranged at a rotor of the stabilizing motor 62and the force-transferring member 66 can be rotatably connected to thestabilizing motor 62 via the hinge. The hinge can be spaced apart from arotating shaft of the stabilizing motor 62. In some embodiments, therotor of the stabilizing motor 62 and the hinge can be one-piece molded.

In some embodiments, as shown in FIG. 6, the stabilizing motor 62 can bea first stabilizing motor and the load-stabilizing apparatus 22 furtherincludes a second stabilizing motor. The first stabilizing motor and thesecond stabilizing motor are symmetrically arranged at opposite sides ofthe parallelogram mechanism 223, and can be arranged to be co-axial toeach other. In some embodiments, the first stabilizing motor and thesecond stabilizing motor are symmetrically arranged at opposite sides ofthe base 60. One or both of the first stabilizing motor and the secondstabilizing motor can be connected to at least one of the firstconnecting arm 222 or the second connecting arm 224. For example, asshown in FIG. 6, the first stabilizing motor and the second stabilizingmotor are connected to the second connecting arm 224. The firststabilizing motor can rotate synchronously with the second stabilizingmotor, such that the first stabilizing motor and the second stabilizingmotor can together drive the parallelogram mechanism 223 to deform.

In some embodiments, the force-transferring member 66 is a firstforce-transferring member rotatably connected to the first stabilizingmotor and the parallelogram mechanism 223. In these embodiments, theload-stabilizing apparatus 22 further includes a secondforce-transferring member rotatably connected to the second stabilizingmotor and the parallelogram mechanism 223. The first force-transferringmember and the second force-transferring member are arrangedsymmetrically at opposite sides of the parallelogram mechanism 223. Forexample, as shown in FIG. 6, the first force-transferring member and thesecond force-transferring member are arranged at opposite outer sides ofthe two second protruding portion 2243 of the second connecting arm 224and proximal to the base 60.

In some embodiments, as shown in FIG. 6, the base 60 includes a basebody 10 connected to the parallelogram mechanism 223, and a baseextending arm 61 extending outward from an end of the base body 10. Thesecond supporting arm 228 is fixedly connected to the base body 10. Thestabilizing motor 62 is arranged at the base extending arm 61. In someembodiments, the base extending arm 61 is a first base extending arm andthe base further includes a second base extending arm. The secondstabilizing motor is arranged at the second base extending arm extendingoutward from another end of the base body 10. The first base extendingarm and the second base extending arm are respectively bent and extendedfrom two ends of the base body 10 toward a side of the base body 10proximal to the parallelogram mechanism 223, such that the base 60 has aU-shape-like structure. In some embodiments, the base body 10, the firstbase extending arm, and the second extending arm can be one-piecemolded.

FIG. 7 is a perspective view of the load-stabilizing apparatus 22consistent with the disclosure. FIG. 8 is another perspective view ofthe load-stabilizing apparatus 22 consistent with the disclosure. Asshown in FIGS. 7 and 8, each of the base extending arms 61 includes areceiving channel 61-1 for receiving an electrical signal transmissionwire of the corresponding stabilizing motor 62. For example, the firstbase extending arm includes the receiving channel 61-1 for receiving theelectrical signal transmission wire of the first stabilizing motor, andthe second base extending arm includes the receiving channel 61-1 forreceiving the electrical signal transmission wire of the secondstabilizing motor. Each receiving channel 61-1 can be arranged insidethe corresponding base extending arms 61.

In some embodiments, as shown in FIGS. 7 and 8, the base body 10includes a receiving space 10-1 for receiving a control circuit 1000.The control circuit 1000 can be configured to control the twostabilizing motors 62 and/or transmit a power signal to the twostabilizing motors 62 via the electrical signal transmission wires ofthe two stabilizing motors 62. In some embodiments, the electricalsignal transmission wires of the two stabilizing motors 62 can alsotransmit rotation angle information of the two stabilizing motors 62.

In some embodiments, as shown in FIG. 7, the base body 10 furtherincludes a through hole 10-2 in communication with the receiving space10-1. An electrical signal transmission wire of a motion sensor can passthrough the through hole 10-2. In some embodiments, the motion sensorcan include at least one of an angle sensor or an Inertial MeasurementUnit (IMU). In some other embodiments, the motion sensor can include atleast one of a sensor for measuring motion data of the load-connectingmember 80 or a sensor for measuring a rotation angle of theparallelogram mechanism 223. The rotation angle of the parallelogrammechanism 223 can be an angle of the parallelogram mechanism 223rotating relative to the base 60.

In some embodiments, as shown in FIG. 7, the load-connecting member 80includes a receiving recess 80-1 for receiving a motion-detectingcircuit. The motion-detecting circuit can be mounted at theload-connecting member 80 and configured to measure motion of theload-connecting member 80. In some embodiments, the motion-detectingcircuit can include a motion sensor configured to obtain the motion dataof the load-connecting member 80. The motion sensor can include, forexample, an IMU.

In some embodiments, a detection circuit can be mounted at theparallelogram mechanism 223 and configured to measure a motion of theparallelogram mechanism 223. The detection circuit can include an anglesensor configured to measure the rotation angle of the parallelogrammechanism 223. In some embodiments, the angle sensor can be configuredto measure a rotation angle of at least one of the first connecting arm222 or the second connecting arm 224.

In some embodiments, the interface 87 can include a quick-releaseconnector (not shown in FIGS. 7 and 8). The load-connecting member 80can be detachably connected to the load via the quick-release connector.In some embodiments, the interface 87 can include an electrical signalinterface. The electrical signal interface can be configured to transmitan input electrical signal to the load and/or receive an outputelectrical signal outputted by the load. The input electrical signal caninclude at least one of a power signal or a load control signal. Forexample, the load control signal can be the signal to control a shootingoperation of the load. The output electrical signal can include sensingdata collected by the load. For example, the sensing data collected bythe load can be the image or video captured by the load. In someembodiments, the electrical signal interface can also transmit an inputsignal to the gimbal 24 and/or receive an output signal outputted by thegimbal 24. For example, the input signal can include the power signaland/or a control command to control a movement of the gimbal 24. Theoutput signal can include, e.g., rotation angle information of thegimbal 24.

In some embodiments, as shown in FIG. 7, the parallelogram mechanism 223includes at least one threading channel 223-1. An electrical signaltransmission wire communicationally connected to the electrical signalinterface can be arranged in the at least one threading channel 223-1.In some embodiments, an electrical signal transmission wire electricallyconnected to the motion-detecting circuit can be arranged in the atleast one threading channel 223-1. In some embodiments, the at least onethreading channel 223-1 can be arranged at the first connecting arm 222,at the second connecting arm 224, or between the first connecting arm222 and the second connecting arm 224.

Referring again to FIG. 6, the load-stabilizing apparatus 22 furtherincludes an elastic member 50. The elastic member 50 is configured toprovide an elastic force to the connecting assembly 220. A verticalcomponent of the elastic force generated by the elastic member 50 can beused to balance a weight of the photographing device C, a weight of thegimbal 24, and/or a weight of the load-stabilizing apparatus 22.

In some embodiments, the elastic member 50 is arranged inside the cavityof connecting assembly 220, which is formed by the first connecting arm222 and the second connecting arm 224. In some embodiments, the elasticmember 50 can include a spring (e.g., a coil spring). The elastic member50 can be mounted at the load-stabilizing apparatus 22 in variousmanners. For example, an end 52 (see, e.g., FIGS. 2, 10, 11, 14, and 15)of the elastic member 50 can be mounted at the second supporting arm 228or the base body 10, and another end 54 (see, e.g., FIGS. 2, 10, 11, 14,and 15) of the elastic member 50 can be mounted at the first supportingarm 226, the first connecting arm 222, or the second connecting arm 224,as long as the elastic member 50 can provide the elastic force tobalance or partially balance the weight of the load (e.g., thephotographing device C, the gimbal 24, or the like). In someembodiments, a position of the end 54 of the elastic member 50 can beadjusted to adjust the elastic direction of the elastic member 50.

In some embodiments, the load-stabilizing apparatus 22 further includesa switching assembly 41 arranged at the deformation mechanism. FIG. 9 isa perspective view of the switching assembly 41 consistent with thedisclosure. The switching assembly 41 can be rotatably connected to thedeformation mechanism and configured to adjust an elastic direction ofthe elastic member 50. As shown in FIG. 9, the switching assembly 41includes a switching member 42, a switching handle 44, and an engagingmember 442.

The switching member 42 is connected to the end 54 of the elastic member50. The end 54 of the elastic member 50 can also be referred to as anactive end. In some embodiments, the switching member 42 includes acrankshaft. As shown in FIG. 9, the crankshaft includes two shaftportions 423, an eccentric portion 427, and two connecting portions 425.The two shaft portions 423 are arranged at two opposite sides of thecrankshaft. The eccentric portion 427 is arranged at a middle part ofthe crankshaft and deviates from a rotation axis of the two shaftportions 423. The two connecting portions 425 extend from the two shaftportions 423 and are connected between the two shaft portions 423 andthe eccentric portion 427.

As shown in FIG. 9, the first supporting arm 226 further includes twoshaft holes 2264 at the two side portions of the first supporting arm226, respectively. The two shaft portions 423 can be rotatably mountedat the first supporting arm 226 through the shaft holes 2264. A lineconnecting the two shaft holes 2264 is a rotation axis of thecrankshaft. The eccentric portion 427 is arranged at a distance from therotation axis of the crankshaft, and the distance is determined by alength of the two connecting portions 425.

The eccentric portion 427 includes a notch 4272 and the end 54 of theelastic member 50 proximal to the first supporting arm 226 is hooked tothe notch 4272. In some embodiments, a rotatable connection between theelastic member 50 and the eccentric portion 427 can be achieved byhooking a hook (not shown in FIG. 9) of the end 54 of the elastic member50 in the notch 4272. As such, the position of the end 54 of the elasticmember 50 can be changed with a rotation of the eccentric portion 427.Thereby, the elastic direction and elastic strength of the elasticmember 50 can be changed and the end 54 can be rotated relative to thenotch 4272.

The switching handle 44 is fixedly connected to the switching member 42and configured to receive an external force to drive the switchingmember 42 to rotate to adjust a position of the end 54 of the elasticmember 50. In some embodiments, the switching handle 44 includes arotating portion 444. For example, a user can apply a force to therotating portion 444 to control the switching member 42 to rotate. Therotating portion 444 can have a plate shape that is convenient for theuser to rotate.

The engaging member 442 is connected to the switching handle 44 and theswitching member 42. In some embodiments, as shown in FIG. 9, theengaging member 442 has a cylindrical shape and includes a shaftmounting hole 4422. The shaft portion 423 of the crankshaft distal fromthe switching handle 44 can penetrate through the shaft hole 2264 andanother shaft portion 423 proximal to the switching handle 44 can beinserted into the shaft mounting hole 4422.

The crankshaft can be driven to rotate by the rotating portion 444,thereby driving the end 54 of the elastic member 50 to switch amongdifferent positions. The eccentric portion 427 and the end 54 of theelastic member 50 can stay at any position during the rotation of thecrankshaft. In some embodiments, the rotating portion 444 can rotateclockwise or counterclockwise within a certain range of angles, and canstably stay and remain at two limiting positions (one of the twolimiting positions corresponds to a limiting position of clockwiserotation, and another limiting position corresponds to a limitingposition of counterclockwise rotation).

As shown in FIG. 9, the deformation mechanism further includes twostopper members (or simply “stoppers”) 2268. The two stopper members2268 are arranged at an upper position and a lower position of an outerside of one of the two side portions of the first supporting arm 226proximal to the switching handle 44. The stopper member 2268 arranged atthe upper position can also be referred to as a first stopper member,and another stopper member 2268 arranged at the lower position can alsobe referred to as a second stopper member. The two stopper members 2268are configured to hold the rotating portion 444 at a positioncorresponding to a normal position of the end 54 of the elastic member50 or a position corresponding to an inverse position of the end 54 ofthe elastic member 50. The rotating portion 444 can be held to the twolimiting positions because of the blocking of the stopper members 2268and the elastic force of the elastic member 50.

FIG. 10 is a cross-sectional view of the load-stabilizing apparatus 22in a first stabilization mode consistent with the disclosure. FIG. 11 isa cross-sectional view of the load-stabilizing apparatus 22 in a secondstabilization mode consistent with the disclosure. FIG. 12 is a sideview of the load-stabilizing apparatus 22 in the first stabilizationmode consistent with the disclosure. As shown in FIG. 10, the normalposition of the end 54 of the elastic member 50 is a position closer tothe second connecting arm 224 than the first connecting arm 222 and canalso be referred to as a first active end position. As shown in FIG. 11,the inverse position of the end 54 of the elastic member 50 is aposition closer to the first connecting arm 222 than the secondconnecting arm 224 and can also be referred to as a second active endposition.

When the end 54 is in the first active end position, the elasticdirection of the elastic member 50 is in a first elastic direction, anda first side of the engaging member 442 abuts the first stop memberunder the elastic force in the first elastic direction. The first sideof the engaging member 442 is a side of the engaging member 442 proximalto the first stop member. When the switching member 42 adjusts the end54 from the first active end position to the second active end position,the elastic direction of the elastic member 50 is in a second elasticdirection, and a second side of the engaging member 442 abuts the secondstop member under the elastic force in the second elastic direction. Thesecond side of the engaging member 442 is a side of the engaging member442 proximal to the second stop member.

In some embodiments, the load-stabilizing apparatus 22 can have thefirst stabilization mode and the second stabilization mode correspondingto the first elastic direction and the second elastic direction of theelastic member 50. An attitude of the load-stabilizing apparatus 22 inthe second stabilization mode turns 180 degree in the vertical direction(i.e., upside-down) as compared to the attitude of the load-stabilizingapparatus 22 in the first stabilization mode. In some embodiments, anorientation of the interface 87 of the load-connecting member 80 in thefirst stabilization mode can be different from the orientation of theinterface 87 in the second stabilization mode, such that a mountingattitude of the load carried by the load-connecting member in the firststabilization mode can be different from the mounting attitude in thesecond stabilization mode.

In some embodiments, the orientation of the interface 87 of theload-connecting member 80 in the first stabilization mode can beopposite to the orientation of the interface 87 in the secondstabilization mode, such that the mounting attitude in the firststabilization mode can be opposite to the mounting attitude in thesecond stabilization mode. For example, as shown in FIG. 10, when theload-stabilizing apparatus 22 is in the first stabilization mode, theinterface 87 faces downward and the load carried by the load-connectingmember 80 is in a normal attitude, e.g., an upright mounting attitude.As shown in FIG. 11, when the load-stabilizing apparatus 22 is in thesecond stabilization mode, the interface 87 faces upward and the loadcarried by the load-connecting member 80 is in an inverse attitude,e.g., an upside-down mounting attitude.

As shown in FIGS. 10 and 11, the deformation mechanism can be deformableand can have a plurality of deformation states. For example, theplurality of deformation states can include a first stabilization stateand a second stabilization state. When the deformation mechanism is inthe first stabilization state, the load-stabilizing apparatus 22 is inthe first stabilization mode. When the deformation mechanism is in thesecond stabilization state, the load-stabilizing apparatus 22 is in thesecond stabilization mode.

A relative position of the first connecting arm 222 with respect to thesecond connecting arm 224 in the first stabilization state is differentfrom the relative position in the second stabilization state. In someembodiments, the relative position of the first connecting arm 222 withrespect to the second connecting arm 224 in the first stabilizationstate can be opposite to the relative position in the secondstabilization state. For example, as shown in FIG. 10, in the firststabilization state, the first connecting arm 222 is above the secondconnecting arm 224. On the other hand, as shown in FIG. 11, in thesecond stabilization state, the first connecting arm 222 is below thesecond connecting arm 224.

In some embodiments, a length of a diagonal of the parallelogrammechanism 223 in the first stabilization state is different from thelength of the diagonal of the parallelogram mechanism 223 in the secondstabilization state. For example, the diagonal of the parallelogrammechanism 223 can be a line connecting the hinge points S1 and S4, whichcan be denoted as S1S4 and also referred to as a first diagonal. Asecond diagonal of the parallelogram mechanism 223 can be a lineconnecting the hinge points S2 and S3, which can be denoted as S2S3. Thesecond diagonal S2S3 intersects the first diagonal S1S4. In someembodiments, as shown in FIG. 10, in the first stabilization mode, thelength of the first diagonal S1S4 can be greater than a length of thesecond diagonal S2S3 of the parallelogram mechanism 223. On the otherhand, as shown in FIG. 11, in the second stabilization mode, the lengthof the first diagonal S1S4 can be shorter than the length of the seconddiagonal S2S3. The positions of the hinge points S1, S2, S3, and S4 arealso shown in FIG. 12.

In some embodiments, one or more vertex angles of the parallelogrammechanism 223 in the first stabilization mode are different from the oneor more vertex angles of the parallelogram mechanism 223 in the secondstabilization mode. For example, a first vertex angle of theparallelogram mechanism 223 can be an angle between the line S1S3 andthe line S1S2 and can be denoted as angle S2S1S3. A second vertex angleof parallelogram mechanism 223 can be an angle between the line S2S4 andthe line S1S2, and can be denoted as angle S1S2S4. The second vertexangle S1S2S4 neighbors the first vertex angle S2S1S3. In someembodiments, as shown in FIG. 10, in the first stabilization mode, thefirst vertex angle S2S1S3 is smaller than the second vertex angle S1S2S4of the parallelogram mechanism 223. On the other hand, and as shown inFIG. 11, in the second stabilization mode, the first vertex angle S2S1S3is greater than the second vertex angle S1S2S4.

Therefore, when the load is intended to be mounted in the uprightmounting attitude, the end 54 of the elastic member 50 can be switchedto the position adjacent to the second connecting arm 224 by rotatingthe rotating portion 444. The change in the position of the end 54 ofthe elastic member 50 can cause the elastic direction of the elasticforce to be changed to the first elastic direction. The deformationmechanism can swing upward relative to the base 60. The deformationmechanism can then switch to the first stabilizing state and theload-stabilizing apparatus 22 can be in the first stabilizing mode. Whenthe load is intended to be mounted in the upside-down mounting attitude,the end 54 of the elastic member 50 can be switched to the positionadjacent to the first connecting arm 222 by rotating the rotatingportion 444. The change in the position of the end 54 of the elasticmember 50 can cause the elastic direction of the elastic force to bechanged to the second elastic direction. The deformation mechanism canswing downward relative to the base 60. The deformation mechanism canthen switch to the second stabilizing state and the load-stabilizingapparatus 22 can be in the second stabilizing mode.

In some other embodiments, the rotating portion 444 for manual operationby a user can be omitted, and an automatic driving device (e.g., aswitching motor) may be used. For example, the switching motor can be abrushless motor. A sensor can be arranged at the load-connecting member80, the connecting assembly 220, the base 60, or the like, andconfigured to sense the attitude of the load-stabilizing apparatus 22.If the load-stabilizing apparatus 22 is determined to be in the firststabilizing mode, a process can control the switching motor to switchthe position of the end 54 of the elastic member 50 to the first activeend position. If the load-stabilizing apparatus 22 is determined to bein the second stabilizing mode, a process can control the switchingmotor to switch the position of the end 54 of the elastic member 50 tothe second active end position.

In some embodiments, the elastic force can include a pulling force. Whenthe deformation mechanism is under the pulling force in a first pullingdirection, the deformation mechanism is in the first stabilizationstate. When the switching assembly 41 adjusts a pulling direction of theelastic member 50 from the first pulling direction to a second pullingdirection, the deformation mechanism can be deformed to be in the secondstabilization state by the pulling force in the second pullingdirection. In some other embodiments, the elastic force can also includea compression force. When the switching assembly 41 adjusts acompressive direction of the elastic member 50 from the firstcompressive direction to a second compressive direction, the deformationmechanism can be deformed to be in the second stabilization state by thecompression force in the second compressive direction.

FIGS. 13 and 14 are schematic diagrams showing the load-stabilizingapparatus 22 carrying loads with different weights. As shown in FIGS. 13and 14, the load-stabilizing apparatus 22 further includes an adjustmentmember 31. In some embodiments, the adjustment member 31 is arranged atthe second supporting arm 228 and configured to adjust a degree ofdeformation of the elastic member 50. For example, when the elasticmember 50 includes a spring, the degree of deformation of the elasticmember 50 can include a deformation length of the spring. The elasticforce of the elastic member 50 can be adjusted by adjusting the degreeof deformation of the elastic member 50.

Therefore, the adjustment member 31 can adjust the elastic force of theelastic member 50 (e.g., a component of the elastic force in thevertical direction) via adjusting the degree of deformation of theelastic member 50, such that loads carried by the load-stabilizingapparatus 22 with different weights can be balanced. In someembodiments, the elastic force of the elastic member 50 can bemaintained unchanged, the component of the elastic force in the verticaldirection can be changed by adjusting the direction of the elastic forceprovided by the elastic member 50, such that the loads with differentweights can be balanced. In some embodiments, the load with certainweight can be balanced by simultaneously adjusting a magnitude and thedirection of the elastic force of the elastic member 50.

In some embodiments, the end 52 of the elastic member 50 is connected tothe adjustment member 31. The adjustment member 31 can adjust the degreeof deformation of the elastic member 50 by adjusting a mounting positionof the end 52 of the elastic member 50 under an external force. When thedegree of deformation of the elastic member 50 changes, the elasticmember 50 can drive the load-supporting assembly 30 to rotate relativeto the base 60 to adjust the position of the load carried by theload-connecting member 80 in a vertical movement stroke. For example,when the weight of the load is relatively large, the adjustment member31 can be configured to adjust the mounting position of the end 52 onthe adjustment member 31 toward a first direction under the externalforce to increase the degree of deformation of the elastic member 50.The first direction can be an upward direction or a downward direction.Accordingly, the elastic member 50 can be configured, in response to theadjustment member 31 being adjusted to increase the degree ofdeformation of the elastic member 50, to drive the load-supportingassembly 30 to rotate relative to the base 60 in a first rotationdirection, such that the position of the load in the vertical directioncan be adjusted upwards. When the weight of the load is relativelysmall, the adjustment member 31 can be configured to adjust the mountingposition of the end 52 on the adjustment member 31 toward a seconddirection under the external force to decrease the degree of deformationof the elastic member 50. The second direction can be opposite to thefirst direction. Accordingly, the elastic member 50 can be configured,in response to the adjustment member 31 being adjusted to decrease thedegree of deformation of the elastic member 50, to drive theload-supporting assembly 30 to rotate relative to the base 60 in asecond rotation direction, such that the position of the load in thevertical direction can be adjusted downwards. The second rotationdirection can be opposite to the first rotation direction.

In some embodiments, the adjustment member 31 can balance the loads withdifferent weights by adjusting a height of the end 52 of the elasticmember 50 relative to the second supporting arm 228. As shown in FIGS.13 and 14, the adjustment member 31 includes an adjusting lever 34, anadjusting sleeve 36 sleeved on the adjusting lever 34, and an operatingportion 32 connected to the adjusting lever. The adjusting lever 34 canbe rotatably arranged at the second supporting arm 228 or the base body10. A length direction of the adjusting lever 34 is approximatelyparallel to a longitudinal direction of the second supporting arm 228.For example, the adjusting lever 34 can be arranged in the verticaldirection. The adjusting lever 34 can have a cylindrical shape and havean external thread on a cylindrical surface. For example, the adjustinglever 34 can include a lead screw. A recess 2282 (see, e.g., FIG. 6) canbe provided at a side of the second supporting arm 228 facing the firstsupporting arm 226. The adjusting level 34 can be arranged in the recess2282, such that the adjusting sleeve 36 can extend into the recess 2282and be connected to the adjusting lever 34.

In some embodiments, the adjusting sleeve 36 can include a sleeveportion having an internal thread, such as a lead nut. The internalthread of the adjusting portion can be engaged with the external threadof the adjusting level 34, such that a threaded connection of theadjusting sleeve 36 with the adjusting level 34 can be achieved.Therefore, when the adjusting lever 34 is rotated, the adjusting sleeve36 can be vertically moved upward and downward with respect to theadjusting lever 34 and the second supporting arm 228.

Referring again to FIG. 2, in some embodiments, the adjusting sleeve 36includes a mounting portion 365. The end 52 of the elastic member 50 canbe rotatably connected to the mounting portion 365. For example, aprotruding component 362 can protrude from a side of the sleeve portion.The protruding component 362 can have the mounting portion 365 having acylindrical shape. The end 52 of the elastic member 50 can be providedwith a hook (not shown), and the hook can be rotatably sleeved on themounting component 365.

The operating portion 32 protrudes from a surface of the secondsupporting arm 228. The operating portion 32 allows the user to rotatethe adjusting lever 34 directly or indirectly, so as to change aposition of the adjusting sleeve 36 on the adjusting lever 34. In someembodiments, the operating portion 32 can have an approximatelytruncated cone shape, and a peripheral side surface of the operatingportion 32 can include a surface having a certain roughness, such thatthe user can more easily operate the adjusting lever 34 to rotate. Itcan be appreciated that the operating portion 32 can also include anelliptical platform or a polygonal prismatic platform.

A connecting position of the adjusting sleeve 36 and the adjusting lever34 can be adjusted by rotating the adjusting lever 34. That is, aconnection height of the end 52 of the elastic member 50 with respect tothe second supporting arm 228 can be adjusted. The elastic force of theelastic member 50 can be adjusted by adjusting the connection height ofthe end 52 of the elastic member 50 with respect to the secondsupporting arm 228. Therefore, the load-stabilizing apparatus 22 canadjust the elastic force of the elastic member 50 in accordance with theweight of the load. The load can be the photographing device C and thegimbal 24. In some embodiments, the load may only include thephotographing device C or the gimbal 24.

In some embodiments, the load-stabilizing apparatus 22 further includesa position adjustment motor 38. The adjustment motor 38 can beconfigured to drive the adjusting lever 34 to rotate, therebyautomatically adjusting the elastic force of the elastic member 50. Insome embodiments, the position adjustment motor 38 can be arranged atone end of the second supporting arm 228. The position adjustment motor38 can be any type of motor.

In some embodiments, to better achieve an accurate adjustment of theposition adjustment motor 38, a sensor can be provided to obtaininformation related to the position of the load-connecting member 80. Insome embodiments, a processor can be arranged at the load-stabilizingapparatus 22, for example in the receiving space of the base body 10, atthe receiving recess 80-1 of the load-connecting member 80, or the like.The processor can be configured to control the position adjustment motor38, according to the information, to rotate to actively adjust the forceprovided by the elastic member 50 to the load-supporting assembly 30 toadapt to the weight of the load. For example, the force provided by theelastic member 50 can be adjusted to cause an angle of the connectingassembly 220 relative to the base 60 to remain at a preset angle, suchas 90 degrees. The preset angle can keep the first connecting arm 222and the second connecting arm 224 in, for example, a horizontal orapproximately horizontal direction, e.g., parallel or approximatelyparallel to the ground. As another example, the force provided by theelastic member 50 can be adjusted to cause the load to be in a presetposition in a vertical motion trajectory.

In some embodiments, the sensor can include an angle sensor that can beused for assisting the processor in determining the amount and directionof the rotation of the position adjustment motor 38. For example, theangle sensor is configured to detect the angle of the connectingassembly 220 relative to the base 60. The position adjustment motor 38can be configured, in response to the angle sensor detecting that theangle of the connecting assembly 220 relative to the base 60 is greaterthan 90 degrees, to drive the adjusting lever 34 to rotate in adirection to move the adjusting sleeve 36 toward the one end of thesecond supporting arm 228, and in response to the angle sensor detectingthat the angle of the connecting assembly 220 relative to the base 60 issmaller than 90 degrees, to rotate in another direction to move theadjusting sleeve 36 toward another end of the second supporting arm 228.

For example, the angle sensor can be configured to detect an angleformed between the second connecting arm 224 and the second supportingarm 228. When the load tilts the second connecting arm 224 upward, asshown in FIG. 13, the angle measured by the angle sensor will be lessthan 90 degrees, and the processor can determine that the load is light,and the adjustment sleeve 36 needs to be lowered. Adjustment is made tochange the direction of the elastic force of the elastic member 50 andshorten the length of the elastic member 50. Correspondingly, theprocessor will control the position adjustment motor 38 to rotate in aparticular direction and with a particular amplitude, such that thesecond connecting arm 224 can be perpendicular to the second supportingarm 228.

As another example, when the load tilts the second connecting arm 224downward, as shown in FIG. 14, the angle measured by the angle sensorwill be larger than 90 degrees, and the processor can determine that theload is heavy, and the adjustment sleeve 36 needs to be raised.Adjustment is made to change the direction of the elastic force of theelastic member 50 and lengthen the length of the elastic member 50.Correspondingly, the processor will control the position adjustmentmotor 38 to rotate in a particular direction and with a particularamplitude, such that the second connecting arm 224 can be perpendicularto the second supporting arm 228. Therefore, whether the elastic member50 matches the load can be determined by whether the second connectingarm 224 and the second supporting arm 228 are perpendicular (i.e.,whether the angle measured by the angle sensor is 90 degrees). In someother embodiments, other angles may be used as a reference to determinewhether the elastic member 50 matches the load, which is note limitedherein.

In some embodiments, a plurality of mounting positions of the end 52 ofthe elastic member 50 connected to the adjustment assembly correspondingto a plurality of different weights of the load can be predetermined.The processor can be configured to recognize the load and automaticallydrive a motor to adjust the end 52 of the elastic member 50 to thecorresponding predetermined mounting position. For example, the load cansend an identification number (ID) of the load to the processor, suchthat the processor can recognize the load according to the ID.

The position of the adjustment assembly and the position of theswitching assembly 41 can be interchangeable. That is, in some otherembodiments, the adjustment assembly can be arranged at the firstsupporting arm 226 and the switching assembly 41 can be arranged at thesecond supporting arm 228. As such, the position of the end 52 of theelastic member 50 can be adjusted by the switching assembly 41, and theposition of the end 54 of the elastic member 50 can be adjusted by theadjustment assembly.

In some embodiments, the connecting assembly 220 can include aslider-crank mechanism. In FIG. 12 a hinging point of theforce-transferring member 66 and the stabilizing motor 62 is denoted asS. The rotating center of the stabilizing motor 62 is denoted as R. Theforce-transferring member 66 can operate as a slider in the slider-crankmechanism. The line connecting the hinging point S and the rotatingcenter R of the stabilizing motor 62 can be denoted as SR (non-physicalstructure) and regarded as the crank of the slider-crank mechanism.

FIG. 15 is a schematic diagram showing a working process of theslider-crank mechanism consistent with the disclosure. FIG. 16 isanother schematic diagram showing the working process of theslider-crank mechanism consistent with the disclosure. In some otherembodiments, as shown in FIGS. 15 and 16, the slider-crank mechanismincludes a crank 64 (line SR shown in FIG. 12) and a slider 66 (theforce-transferring member 66 shown in, e.g., FIG. 12). A first end ofthe crank 64 is connected to the stabilizing motor 62 in a coaxiallyrotating manner (the crank 64 rotates about the rotating center R of thestabilizing motor 62), and a second end of the crank 64 is hinged to afirst end of the slider 66. A second end of the slider 66 is hinged tothe second connecting arm 224 (shown in FIGS. 15 and 16 as an example)or the first connecting arm 222. The second connecting arm 224 can berotatable relative to the second supporting arm 228. The stabilizingmotor 62 can be fixed to the second supporting arm 228. The crank 64 isequivalent to the line SR.

During the rotation of the stabilization motor 62, the second connectingarm 224 can be reciprocated up and down driven by the slider 66 and hasa highest position and a lowest position. In the highest position thecrank 64 and the slider 66 are folded toward each other and hence atleast partially overlap to form a first dead point. In the lowestposition, the crank 64 and the slider 66 extend in two oppositedirection and hence are connected in a straight line to form a seconddead point. Thus, there are two dead points, i.e., a first dead pointand a second dead point corresponding to the highest position and thelowest position, respectively. At the dead point, a force transmitted bythe second connecting arm 224 and the slider 66 to the crank 64 does notproduce a moment that can cause the crank 64 to rotate.

In some embodiments, the load-stabilizing apparatus 22 further includesa first blocking member 65 and a second blocking member 67. A blockingmember can also be referred to as a “block.” In some embodiments, thefirst blocking member 65 is arranged at an outer side of the firstprotruding portion 2223 of the first connecting arm 222, and the secondblocking member 67 is arranged at an outer side of the second protrudingportion 2243 of the second connecting arm 224. In some otherembodiments, the first blocking member 65 can be arranged at the secondconnecting arm 224 and the second blocking member 67 can be arranged atthe first connecting arm 222.

The first blocking member 65 is configured to block theforce-transferring member 66 when the stabilizing motor 62 drive theforce-transferring member 66 to pass a first preset position, and thesecond blocking member 67 is configured to block the force-transferringmember 66 when the stabilizing motor 62 drive the force-transferringmember 66 to pass a second preset position. In some embodiments, thefirst preset position can include one of the first dead end and thesecond dead end, and the second preset position can include another oneof the first dead end and the second dead end.

For example, the first preset position can include the first dead endand the second preset position can include the second dead end. Theelastic force of the elastic member 50 when the force-transferringmember 66 is in the first preset position is smaller than the elasticforce when the force-transferring member 66 is in a position other thanthe first preset position. The elastic force of the elastic member 50when the force-transferring member 66 is in the second preset positionis greater than the elastic force when the force-transferring member 66is in a position other than the second preset position.

For example, the first blocking member 65 can be arranged at or proximalto a position corresponding to the highest position. The first blockingmember 65 may be arranged at the first connecting arm 222. When thestabilizing motor 62 drives the crank 64 to rotate clockwise, the secondconnecting arm 224 can rotate clockwise and continuously rise. As shownin FIG. 15, when the crank 64 and the slider 66 are connected in a line(e.g., partially coincident with each other), the second connecting arm224 will reach the highest position. The highest position corresponds toa clockwise limit position of the crank-slider mechanism. If continuingto rotate for a small amount in the clockwise direction, the slider 66will contact the first blocking member 65.

In this scenario, the second connecting arm 224 at the highest positionhas a tendency to move downward. However, because the crank-slidermechanism has passed the clockwise limit position, the tendency of thesecond connecting arm 224 to move downward will translate into atendency for the crank 64 and the slider 66 to rotate clockwise. Due toa blocking of the first blocking member 65, the crank 64 and the slider66 cannot continue to rotate clockwise, such that the crank 64, theslider 66, the second connecting arm 224, and the like, can be stablyfixed at the position of the first blocking member 65. Therefore, evenif the stabilizing motor 62 is de-energized, the state of the slider 66and the load-stabilizing apparatus 22 can be locked.

As another example, the second blocking member 67 can be arranged at orproximal to a position corresponding to the lowest position. The secondblocking member 67 may be arranged at the second connecting arm 224.When the stabilizing motor 62 drives the crank 64 to rotatecounterclockwise, the second connecting arm 224 can rotatecounterclockwise and continuously fall. As shown in FIG. 16, when thecrank 64 and the slider 66 are connected in a line without overlapping,the second connecting arm 224 will reach the lowest position. The lowestposition corresponds to a counterclockwise limit position of thecrank-slider mechanism. If continuing to rotate for a small amount inthe counterclockwise direction, the slider 66 will contact the secondblocking member 67.

In this scenario, the second connecting arm 224 at the lowest positionhas a tendency to move upward. However, because the crank-slidermechanism has passed the counterclockwise limit position, the tendencyof the second connecting arm 224 to move upward will translate into atendency for the crank 64 and the slider 66 to rotate counterclockwise.Due to a blocking of the second blocking member 67, the crank 64 and theslider 66 cannot continue to rotate counterclockwise, such that thecrank 64, the slider 66, the second connecting arm 224, and the like,can be stably fixed at the position of the second blocking member 67.Therefore, even if the stabilizing motor 62 is de-energized, the stateof the slider 66 and the load-stabilizing apparatus 22 can be locked.

In a normal working state of the load-stabilizing apparatus 22, thestabilization motor 62 can be configured to drive the crank 64 and theslider 66 to move between the highest position and the lowest positionto realize an active stabilization function in the vertical direction.

When the load-stabilizing apparatus 22 is not required to be operated,the user can manually or use the stabilizing motor 62 to rotate thesecond connecting arm 224 at a large angle, such that the slider 66 canabut and stabilize at the position of the first blocking member 65 orthe second blocking member 67.

Consistent with the disclosure, the crank-slider mechanism can cause thestabilization motor 62 to drive the second connecting arm 224 to swingback and forth, and can also provide the second connecting arm 224 witha locking function when the stabilization motor 62 is de-energized.

In some embodiments, only one blocking member is provided. For example,only the first blocking member 65 or only the second blocking member 67is provided.

In some embodiments, the blocking member can be arranged at the firstconnecting arm 223. When the stabilizing motor 62 is rotated to a presetangle, the transmission member abuts the blocking member to block theload from moving in a specific vertical direction. For example, when thestabilizing motor 62 rotates, the connecting assembly 220 can be rotatedrelative to the base 60 via the force-transferring member 66, and theload carried by the load-connecting member 80 can be moved in thevertical direction. When the stabilizing motor 62 is rotated to thepreset angle, the force-transferring member 66 abuts the blocking memberto block the load from moving in the specific vertical direction. Assuch, when the stabilizing motor 62 is rotated to the preset angle, ifthe load or the connecting assembly 220 has a tendency to move in thespecific vertical direction, the load is limited from moving in thespecific vertical direction under the blocking of the blocking member.

Other embodiments of the disclosure will be apparent to those skilled inthe art from consideration of the specification and practice of theembodiments disclosed herein. It is intended that the specification anddescribed embodiments be considered as examples only and not to limitthe scope of the disclosure, with a true scope and spirit of theinvention being indicated by the following claims.

What is claimed is:
 1. A load-stabilizing apparatus comprising: aload-connecting member configured to carry a load; a parallelogrammechanism connected to the load-connecting member; and a stabilizingmotor drivingly connected to the parallelogram mechanism and configuredto drive the parallelogram mechanism to deform, such that theparallelogram mechanism drives the load-connecting member to move. 2.The apparatus of claim 1, wherein the parallelogram mechanism includes:a first connecting arm; a second connecting arm; and a supporting armrotatably connected to the first connecting arm and the secondconnecting arm, wherein: the load-connecting member is connected to thesupporting arm; and the stabilizing motor is drivingly connected to atleast one of the first connecting arm or the second connecting arm. 3.The apparatus of claim 1, further comprising: a force-transferringmember movably connected to the parallelogram mechanism and thestabilizing motor, such that the stabilizing motor drives theparallelogram mechanism to deform via the force-transferring member. 4.The apparatus of claim 3, wherein the force-transferring member isrotatably connected to the parallelogram mechanism and the stabilizingmotor.
 5. The apparatus of claim 1, wherein the stabilizing motor is afirst stabilizing motor; the apparatus further comprising: a secondstabilizing motor, the first stabilizing motor and the secondstabilizing motor together driving the parallelogram mechanism todeform.
 6. The apparatus of claim 5, wherein the first stabilizing motorand the second stabilizing motor are symmetrically arranged at oppositesides of the parallelogram mechanism.
 7. The apparatus of claim 5,wherein the first stabilizing motor rotates synchronously with thesecond stabilizing motor.
 8. The apparatus of claim 1, furthercomprising: a base connected to the parallelogram mechanism.
 9. Theapparatus of claim 8, wherein the stabilizing motor is mounted at thebase.
 10. The apparatus of claim 8, wherein: the base includes: a basebody connected to the parallelogram mechanism; and a base extending armextending outward from an end of the base body; and the stabilizingmotor is arranged at the base extending arm.
 11. The apparatus of claim10, wherein the base extending arm includes a receiving channel forreceiving an electrical signal transmission wire of the stabilizingmotor.
 12. The apparatus of claim 10, wherein the base body includes areceiving space for receiving a control circuit, the control circuitbeing configured to control the stabilizing motor and/or transmit apower signal to the stabilizing motor via an electrical signaltransmission wire of the stabilizing motor.
 13. The apparatus of claim1, further comprising: a motion-detecting circuit configured to measuremotion data of the load-connecting member.
 14. The apparatus of claim13, wherein the motion-detecting circuit is mounted at theload-connecting member.
 15. The apparatus of claim 1, furthercomprising: a detection circuit configured to measure a motion of theparallelogram mechanism.
 16. The apparatus of claim 15, wherein thedetection circuit includes an angle sensor configured to measure arotation angle of the parallelogram mechanism.
 17. The apparatus ofclaim 1, wherein: the load-connecting member includes a quick-releaseconnector; and the load-connecting member is detachably connected to theload via the quick-release connector.
 18. The apparatus of claim 1,wherein the load-connecting member includes an electrical signalinterface configured to transmit an input electrical signal to the loadand/or receive an output electrical signal outputted by the load. 19.The apparatus of claim 18, wherein: the input electrical signal includesat least one of a power signal or a load control signal; and the outputelectrical signal includes sensing data collected by the load.